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Software and Data

  • LCM -- Lightweight Communications and Marshalling formed the backbone of our interprocess communication system.
  • Camunits -- Libraries and tools for developing real-time machine-vision algorithms.
  • PublicData -- Publicly available data sets, and source code for viewing the data.

Videos

Highlights:


Collisions and close calls:


Miscellaneous:

Publications

General

John Leonard, Jonathan How, Seth Teller, Mitch Berger, Stefan Campbell, Gaston Fiore, Luke Fletcher, Emilio Frazzoli, Albert Huang, Sertac Karaman, Olivier Koch, Yoshiaki Kuwata, David Moore, Edwin Olson, Steve Peters, Justin Teo, Robert Truax, Matthew Walter, David Barrett, Alexander Epstein, Keoni Maheloni, Katy Moyer, Troy Jones, Ryan Buckley, Matthew Antone, Robert Galejs, Siddhartha Krishnamurthy, and Jonathan Williams, A Perception-Driven Autonomous Urban Vehicle, Journal of Field Robotics, vol. 25, no. 10, pp. 727 - 774, Oct. 2008. PDF
Also appears as:
John Leonard, Jonathan How, Seth Teller, Mitch Berger, Stefan Campbell, Gaston Fiore, Luke Fletcher, Emilio Frazzoli, Albert Huang, Sertac Karaman, Olivier Koch, Yoshiaki Kuwata, David Moore, Edwin Olson, Steve Peters, Justin Teo, Robert Truax, Matthew Walter, David Barrett, Alexander Epstein, Keoni Maheloni, Katy Moyer, Troy Jones, Ryan Buckley, Matthew Antone, Robert Galejs, Siddhartha Krishnamurthy, and Jonathan Williams, in The DARPA Urban Challenge: Autonomous Vehicles in City Traffic (Springer Tracts in Advanced Robotics, vol. 56), Martin Buehler, Karl Iagnemma, Sanjiv Singh Eds. Berlin, Germany: Springer, 2009.


Luke Fletcher, Seth Teller, Edwin Olson, David Moore, Yoshiaki Kuwata, Jonathan How, John Leonard, Isaac Miller, Mark Campbell, Dan Huttenlocher, Aaron Nathan, Frank-Robert Kline, The MIT - Cornell Collision and Why it Happened, Journal of Field Robotics, vol. 25, no. 10, pp. 775 - 807, Oct. 2008. PDF
Also appears as:
Luke Fletcher, Seth Teller, Edwin Olson, David Moore, Yoshiaki Kuwata, Jonathan How, John Leonard, Isaac Miller, Mark Campbell, Dan Huttenlocher, Aaron Nathan, Frank-Robert Kline, in The DARPA Urban Challenge: Autonomous Vehicles in City Traffic (Springer Tracts in Advanced Robotics, vol. 56), Martin Buehler, Karl Iagnemma, Sanjiv Singh Eds. Berlin, Germany: Springer, 2009.


John Leonard, David Barrett, Jonathan How, Seth Teller, Matt Antone, Stefan Campbell, Alex Epstein, Gaston Fiore, Luke Fletcher, Emilio Frazzoli, Albert Huang, Troy Jones, Olivier Koch, Yoshiaki Kuwata, Keoni Mahelona, David Moore, Katy Moyer, Edwin Olson, Steven Peters, Chris Sanders, Justin Teo, and Matthew Walter, Team MIT Urban Challenge Technical Report, Technical Report MIT-CSAIL-TR-2007-058, Massachusetts Institute of Technology, 2007 PDF

Perception, State Estimation

Albert Huang, David Moore, Matthew Antone, Edwin Olson, and Seth Teller Multi-Sensor Lane Finding in Urban Road Networks, Robotics Science and Systems, Zurich, Switzerland, 2008. PDF


David Moore, Albert S. Huang, Matthew Walter, Edwin Olson, Luke Fletcher, John Leonard, and Seth Teller, Simultaneous Global and Local State Estimation for Robotic Navigation Int. Conf. on Robotics and Automation, Kobe, Japan, May, 2009. PDF


Albert Huang, David Moore, Matthew Antone, Edwin Olson, and Seth Teller Finding Multiple Lanes in Urban Road Networks with Vision and Lidar, Autonomous Robots, 26(2-3), 103-122, Apr. 2009 PDF


Planning, Control

Yoshiaki Kuwata, Justin Teo, Gaston Fiore, Sertac Karaman, Emilio Frazzoli, Jonathan P. How, Real-Time Motion Planning With Applications to Autonomous Urban Driving, IEEE Transactions on Control Systems Technology, vol. 17, no. 5, pp. 1105 - 1118, Sep. 2009. PDF


Yoshiaki Kuwata, Gaston A. Fiore, Justin Teo, Emilio Frazzoli, Jonathan P. How, Motion Planning for Urban Driving using RRT, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, Sep. 2008, pp. 1681 - 1686. PDF


Yoshiaki Kuwata, Justin Teo, Sertac Karaman, Gaston Fiore, Emilio Frazzoli, Jonathan P. How, Motion Planning in Complex Environments using Closed-loop Prediction, Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit, Honolulu, HI, Aug. 2008, AIAA-2008-7166. PDF

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